/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "tim.h"
#include "usart.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "screen_drive.h"
#include "spi.h"
#include "led.h"
#include "lgui.h"
#include "picture.h"
#include "usbd_cdc_if.h"
#include "command.h"
#include "function.h"
#include "foc.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
__IO float add, mul;
__IO Vector2 U_target_ab;
__IO Vector3 T_target_uvw;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART3_UART_Init();
  MX_TIM6_Init();
  MX_ADC1_Init();
  MX_USB_DEVICE_Init();
  MX_TIM1_Init();
  /* USER CODE BEGIN 2 */
  led.OFF();
  oled.Init();
  HAL_GPIO_WritePin(M0_EN_GPIO_Port,M0_EN_Pin,GPIO_PIN_SET);
  HAL_GPIO_WritePin(M1_EN_GPIO_Port,M1_EN_Pin,GPIO_PIN_SET);
  
  
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
  HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_1);
  HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_2);
  HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_3);
  __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 0);
  __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 0);
  __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0);  
  
  
  //oled.Draw(10, 10, 1);
  lgui.ShowPicture(0, 0, foc, 48, 16, 1); lgui.ShowString(48, 16, 8, 1, 1, (uint8_t*)"v0.1");

  lgui.Fill(3, 33, 16, 45, 1);
  lgui.Fill(3, 49, 16, 61, 1);
  lgui.ShowString(4, 44, 12, 0, 1, (uint8_t*)"M0");
  lgui.ShowString(4, 60, 12, 0, 1, (uint8_t*)"M1");

  lgui.ShowString(18, 36, 8, 1, 1, (uint8_t*)"N=%4drpm F=%1.2fNM", 21,0.51);
  lgui.ShowString(18, 45, 8, 1, 1, (uint8_t*)"X=%13drad",13548641);

  lgui.ShowString(18, 54, 8, 1, 1, (uint8_t*)"N=%4drpm F=%1.2fNM",1345,0.01);
  lgui.ShowString(18, 63, 8, 1, 1, (uint8_t*)"X=%13drad",2313);

  //lgui.ShowString(0, 30, 12, 1, 1, (uint8_t*)"A:%04d",20);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    
    U_target_ab = (Vector2){0.1, 0.0};
    /* SVPWM 算法一耗时测量 */
    for (int i = 0; i < 100000; i++){
      SVPWM(&U_target_ab, 0.8f, &T_target_uvw);
    }
    /* SVPWM 算法二耗时测量 */
    for (int i = 0; i < 100000; i++){
      SVPWM2(&U_target_ab, 0.8f, &T_target_uvw);
    }

    //led.Shift();
    //HAL_Delay(500);
    HAL_ADC_Start(&hadc1);
    if(HAL_ADC_PollForConversion(&hadc1,0xff)==HAL_OK){
      lgui.ShowString(4,26,8,1,1,(uint8_t*)"Uin=%2.2fV",3.3f*HAL_ADC_GetValue(&hadc1)/4096*12.026f);
    }
    //HAL_Delay(10);
    ParsingCommand();
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
  /** Enables the Clock Security System
  */
  HAL_RCC_EnableCSS();
}

/* USER CODE BEGIN 4 */

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
   if(htim == &htim6){
     LED_PeriodElapsedCallback();
   }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
